Abstract:It is necessary to maintain the observation and detection formation deployed at the position and complete the task with less energy consumption when the masterslave unmanned underwater vehicle (UUV) cluster performs the collaborative observation and detection task. Firstly, the requirements of UUV lowenergy green dynamic positioning and formation maintenance are analyzed. Secondly, under the dominance of the UUV green dynamic positioning strategy, two control schemes of the global optimal thrust planning based on particle swarm optimization and realtime rolling optimization based on the improved generalized predictive control are specifically designed. Compared with the traditional PID control, simulation results show that the control strategy and control method can reduce the control time from 200 s to 60 s. And the dynamic control task can be completed with lower energy consumption on the premise of meeting the requirements of UUV cluster collaborative view detection task. .txt